WO2016034167A2 - System zum erstellen von steuerungsdatensätzen für roboter - Google Patents
System zum erstellen von steuerungsdatensätzen für roboter Download PDFInfo
- Publication number
- WO2016034167A2 WO2016034167A2 PCT/DE2015/100356 DE2015100356W WO2016034167A2 WO 2016034167 A2 WO2016034167 A2 WO 2016034167A2 DE 2015100356 W DE2015100356 W DE 2015100356W WO 2016034167 A2 WO2016034167 A2 WO 2016034167A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control data
- robot
- sdi
- unit
- optimizer
- Prior art date
Links
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000005265 energy consumption Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 abstract description 6
- 230000001276 controlling effect Effects 0.000 abstract description 4
- 238000011156 evaluation Methods 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000006855 networking Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36289—Cutting, machining conditions by optimisation of time, cost, accuracy
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36301—Optimisation of sequence of operations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39361—Minimize time-energy cost
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- control data record encompasses control and / or regulation data or control and / or regulation commands or control and / or regulation programs and mixed forms thereof Size of the robot, whereby the robot solves a task associated with the respective control data set, for example, performs a manufacturing step on an assembly line or handling of an object
- the object of the invention is to specify a system that makes it possible to determine optimized control data records for the control and / or regulation of networked robots.
- the invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description and the explanation of embodiments of the invention, which are illustrated in the figures.
- the task is solved with a system for creating control data sets for networked robots.
- the networking of the robots R 1, the optimizer OE and the database DB is preferably designed as an Internet-based data network or communication network.
- the networking can be wired or wireless (eg.
- Radio link or be implemented as a mixed form.
- robot is understood to be a broad one, comprising in particular: robots with at least one controllable or controllable unit, such as a robot
- Robot includes in particular controllable or controllable robots with local or distributed intelligence, humanoids, self-learning robots, semi-autonomous and autonomously acting robots, flying robots (drones), buoyant robots, submersible robots, mobile robots (autonomous road traffic), medically usable robots (eg surgical robots) and in particular combinations thereof.
- the control unit SE is advantageously connected to controllable and / or controllable units of the robot R. It preferably comprises a processor for executing the control data records SD, or of executable programs generated based on the control data records SD.
- a control data record SD permits or defines a concrete control / regulation of the respective robot R, such that when executing the commands of the control data set SDi (A k ) the task A k is fulfilled.
- control data record is understood broadly in the present case, it includes, for example, control commands, logical syntax, parameters, formulas, data, etc.
- the control data sets SDi (A k ) are preferably local for each robot, ie stored at the location of the robot, on the memory unit SPE.
- the storage unit SPE for example, may be a commercially available mass storage.
- the term "task A k" is understood herein broadly.
- the object A k can consist, for example, to modify the mechanical, electrical and / or other state of the robot R in a predetermined manner and / or by the action of the robot R on its environment to change the state of the environment in a predetermined way.
- an object may be to pick up an object with a robot's gripper arm at a position P1, to transfer it to a position P2 and deposit it there.
- the multiplicity of possible control data sets results, for example, from the fact that different paths / theses can be traveled at different speeds or slowly between the points P1 and P2, etc. It is assumed in the present case that a control data set SDi (A k ) is typically a Variant of several possible variants for solving the task A k indicates.
- a task A k for the robot R can also be solved with the control data sets SDi (A k ) ', SDi (A k ) ", SDi (A k )", ..., the number of inverted commas each being different Identify variants of the control data record.
- SDi (A k ) 'and SDi (A k ) can be found, for example, in US Pat
- the robot R are presently known for a number of m tasks A k according to a number of m control data sets SDi (A k ), each control data set SDi (A k ) solves the task A k .
- Each robot R thus has its own local fund of control data sets SDi (A k ) to solve certain tasks A k .
- the unit EE for (local) specification of a new, unknown, ie not yet solved task A m + i for the robot R , preferably has a haptic, acoustic and / or an optical input interface, by means of which a user the new task A can enter or specify m + i.
- such a task A m + i may be to place the object not at P2, but at P3, with P2 P3.
- the unit EE may have an electronic data interface via which the new task A m + i can be specified, for example, by computer.
- the unit EH is advantageously connected to the unit EE, and preferably includes a processor and a programming that allows, based on a new task A m + i corresponding to the new robot R, a control data set SDi (A m + i) for execution task A m + i to determine.
- the unit EH self-learning executed and set up.
- the determination of the control data set SDi (A m + i) is automated.
- the determination of the control data set SDi (A m + i) by the unit EH, based on the control data sets SDi (A k ) for k 0 to m. This means that already determined and thus locally known control data sets SDi (A k ) are used as the basis for the preparation of the control data set SDi (A m + i) and, for example, the
- Control data set SDi (A m + i) is determined by a corresponding variation of one or more of the known control data sets SDi (A k ) to the new task A m + i.
- the unit EH thus makes it possible for the robot R, with the locally available computing power control data sets SDi (A m + i) to perform / fulfill new task A m + i to determine.
- the evaluation unit BE is advantageously connected to the unit EH, and preferably comprises a processor and a programming which allows the control data set SDi (A m + i) determined by the unit EH to be identified with respect to at least one parameter P1 with the characteristic K P i (SDi (A m + i)).
- a parameter P1 can, for example, be the energy expenditure or the time required by the robot R 1 to completely or partially convert the sequence defined by the control data record SDi (A m + i).
- the characteristic K P i (SD i (A m + i)) can preferably be understood as a quality measure which indicates the quality of the control data set SDi (A m + i) with regard to the parameter P 1.
- a variety of other parameters P1 are conceivable, depending on Application or requirements can be selected alternatively or additionally.
- the parameter P1 can also be a combination of different (sub) parameters, ie a parameter vector.
- the key figures K P i (SDi (A k )) are stored in the local memory unit SE, and are thus ready for further use.
- the communication unit KE is used for communication with the optimizer OE and / or the database DB and / or other robots R *, and is advantageous as digital
- the proposed system is further distinguished by the fact that the optimizer OE is designed and configured to determine, as requested by a robot R, a control data set SDi , p 2 (A m + i) optimized at least with respect to a given parameter P2, the request by the robot R, then takes place, if the characteristic K P i (SDi (A m + i)) does not satisfy a given condition.
- the control data set SDi (A m + i) determined by the unit EH does not have the required quality (index Kpi (SDi (A m + i)) with respect to the parameter P1
- the optimizer will a control record optimized with respect to parameter P2
- the optimizer can be implemented as a unit with at least one processor and corresponding programming in the data network.
- the computing power and the degree of parallelization of the optimizer are advantageously many times higher than the computing power and the degree of parallelization of a unit EH.
- the optimizer OE may alternatively be designed as a collaborative agent system in the data network, which comprises at least the units EH, as agents, wherein the determination of the optimized
- Control record SD iiP2 (A m + i) in one, several or all units EH, takes place.
- the latter variant uses distributed computing capacities to solve complex problems
- the optimizer OE is designed self-learning, that is, it makes use of existing knowledge, in order to solve new optimization problems, for example.
- the optimizer OE and the control data sets SDi (A k ) of the local robot R known and are used to determine the control data sets SD iiP2 (A k ).
- the determination of the optimized control data set takes place SDi , p 2 (A m + i) advantageous on the basis already optimized by the optimizer OE
- the parameters P1 and P2 are identical.
- a control data set is optimized with regard to a uniform parameter, for example the energy consumption of the robot.
- the parameter P1 and / or the parameter P2 is a partial energy consumption or a total energy consumption of the robot in the execution of the respective control data set SD ,, or a partial or total time duration, the robot for executing the respective control data SD, or requires one Combination of it.
- a control data set is optimized with regard to a uniform parameter, for example the energy consumption of the robot.
- the parameter P1 and / or the parameter P2 is a partial energy consumption or a total energy consumption of the robot in the execution of the respective control data set SD ,, or a partial or total time duration, the robot for executing the respective control data SD, or requires one Combination of it.
- the application and requirement other sizes and / or parameter combinations are conceivable.
- P1 P2 be the total energy consumption of the robot when executing a complete control data set SDi (A m + i).
- K P i SD i (A m + i)
- the index K P i (SDi (A m + i)) is greater than a predetermined limit, (ie the implementation of the control data set SDi (A m + i) is energy-inefficient), so that by the respective robot R, a
- Request to the optimizer OE is made to determine a with respect to the total energy consumption P2 optimized control record SD iiP2 (A m + i).
- the optimizer OE can determine the optimized control data record SD IIP2 (A m + i) on the basis of the control data record SDi (A m + i) previously determined by the unit EH.
- the optimizer OE can determine the optimized control data record SD IIP2 (A m + i) on the basis of the specified task A m + i, and the specification of the control data record SD IIP2 (A m + i) to be determined under the condition of an optimization of the parameter P2. redetermine.
- control data set SDi (A m + i) and the characteristic Kpi (SDi (A m + i)) are advantageously used in the determination.
- Database DB stores the optimized by the optimization unit OE control data set SDi , p 2 (A m + i), and for the execution of the task A m + i to the robot R, provides.
- the optimizer OE also comprises a valuation unit BE 0 PT, which evaluates the optimized control data record SD iiP2 (A m + i) determined by the optimizer OE with regard to at least one parameter P2 with the characteristic K P2 (SDi (A m + i)).
- the proposed system thus makes it possible to optimize a control data set SDi (A m + i) generated locally, ie at the location of a robot R, with respect to one
- the optimizer OE preferably has access to all control data sets SDi (A k ), SD iiP2 (A k ) already known in the (possibly worldwide) data network and associated key figures K P i (SDi (A k )), K P2 (SDi (A k )).
- the optimizer is designed in such a way that the determination of the optimized control data set SD IIP2 (A m + i) takes place in the context of what is known as "cloud computing.”
- cloud computing knowledge of other, possibly globally distributed, robots R, can be used for control or control purposes Control records are used.
- the database DB preferably comprises the storage units SPE ,.
- the database DB may comprise one or more digital storage units SPE distributed in the data network.
- Optimizer OE optimized control record SDi , p 2 (A m + i) stores and to
- Execution of the task A m + i to the robot R provides.
- Fig. 1 shows a schematic structure of a variant of the proposed
- System. 1 shows a schematic structure of a variant of the proposed system for creating control data sets for networked robots, comprising three robots Ri, R2, R3, an optimizer OE and a database DB, which are networked with each other via a data network DN.
- a control unit SE for
- the data communication between the respective robot R, and its associated local units (SE ,, SPE ,, ⁇ ,, ⁇ ,, BE, and KE,) results in this embodiment according to the arrows shown.
- the optimizer OE is designed and configured to determine, as required by a robot R, a control data set SDi , p 2 (A m + i) optimized at least with respect to a given parameter P2, the request being made by the robot R, if the Characteristic K P i (SDi (A m + i)) of a given condition is not enough.
- the database DB stores the control data sets SDi , p 2 (A m + i) optimized by the optimizer OE and supplies them to the robot R for executing the task A m + i.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
- General Factory Administration (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/508,328 US10493625B2 (en) | 2014-09-02 | 2015-08-28 | System for generating sets of control data for robots |
JP2017530403A JP6454015B2 (ja) | 2014-09-02 | 2015-08-28 | ロボットの制御データセットの調節システム |
KR1020177009102A KR101990418B1 (ko) | 2014-09-02 | 2015-08-28 | 로봇의 제어 데이터 세트를 생성하는 시스템 |
DK15791486.2T DK3189385T3 (da) | 2014-09-02 | 2015-08-28 | System til generering af styringsdatasæt til robotter |
CN201580047214.7A CN107077131B (zh) | 2014-09-02 | 2015-08-28 | 用于建立针对机器人的控制数据组的系统 |
EP15791486.2A EP3189385B1 (de) | 2014-09-02 | 2015-08-28 | System zum erstellen von steuerungsdatensätzen für roboter |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014112639.4 | 2014-09-02 | ||
DE102014112639.4A DE102014112639C5 (de) | 2014-09-02 | 2014-09-02 | System zum Erstellen von Steuerungsdatensätzen für Roboter |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2016034167A2 true WO2016034167A2 (de) | 2016-03-10 |
WO2016034167A3 WO2016034167A3 (de) | 2016-04-28 |
Family
ID=54478530
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2015/100356 WO2016034167A2 (de) | 2014-09-02 | 2015-08-28 | System zum erstellen von steuerungsdatensätzen für roboter |
Country Status (8)
Country | Link |
---|---|
US (1) | US10493625B2 (de) |
EP (1) | EP3189385B1 (de) |
JP (1) | JP6454015B2 (de) |
KR (1) | KR101990418B1 (de) |
CN (1) | CN107077131B (de) |
DE (1) | DE102014112639C5 (de) |
DK (1) | DK3189385T3 (de) |
WO (1) | WO2016034167A2 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6514252B2 (ja) | 2017-03-02 | 2019-05-15 | ファナック株式会社 | ロボットのデータ設定システム、データ設定方法及びプログラム |
DE102017118978A1 (de) | 2017-04-23 | 2018-10-25 | Franka Emika Gmbh | Vorrichtung und Verfahren zur elektrischen Prüfung eines elektrischen Bauteils |
DE102017223717B4 (de) | 2017-12-22 | 2019-07-18 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Roboters in einem Multiagentensystem, Roboter und Multiagentensystem |
DE102020103852B4 (de) | 2020-02-14 | 2022-06-15 | Franka Emika Gmbh | Erzeugen und Optimieren eines Steuerprogramms für einen Robotermanipulator |
JP7283624B2 (ja) * | 2020-02-25 | 2023-05-30 | 日本電気株式会社 | 情報処理装置、情報処理方法、及びプログラム |
EP3979021A1 (de) * | 2020-09-30 | 2022-04-06 | Ricoh Company, Ltd. | Planungssystem, planungsverfahren und trägermittel |
Family Cites Families (18)
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DE29600609U1 (de) * | 1996-01-17 | 1997-02-13 | Siemens Ag | Automatisierungsgerät |
JPH11104980A (ja) * | 1997-10-06 | 1999-04-20 | Nippon Telegr & Teleph Corp <Ntt> | ロボット作業経路生成倣い方法及びシステム装置 |
EP1090722B1 (de) * | 1999-09-16 | 2007-07-25 | Fanuc Ltd | Steuerungssystem zum synchronen kooperativen Betreiben einer Mehrzahl von Robotern |
JP4739556B2 (ja) | 2001-03-27 | 2011-08-03 | 株式会社安川電機 | 制御対象の遠隔調整及び異常判断装置 |
JP2002292584A (ja) * | 2001-03-29 | 2002-10-08 | Nachi Fujikoshi Corp | 調整用パラメータの設定方法 |
JP4228387B2 (ja) * | 2001-10-25 | 2009-02-25 | 株式会社安川電機 | 複数ロボットの作業教示方法および作業教示装置 |
JP2004243461A (ja) | 2003-02-13 | 2004-09-02 | Yaskawa Electric Corp | ロボットの教示システム |
DE10314025B4 (de) * | 2003-03-28 | 2010-04-01 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Steuern einer Mehrzahl von Handhabungsgeräten |
US20060167917A1 (en) * | 2005-01-21 | 2006-07-27 | Solomon Research Llc | System, methods and apparatus for complex behaviors of collectives of intelligent mobile software agents |
US7853356B2 (en) * | 2006-04-14 | 2010-12-14 | Fanuc Robotics America, Inc. | Method for optimizing a robot program and a robot system |
US7684892B2 (en) * | 2007-10-30 | 2010-03-23 | Gm Global Technology Operations, Inc. | Process for generating control sequence of operations |
DE102008062934A1 (de) * | 2008-12-23 | 2010-06-24 | Kuka Roboter Gmbh | Vernetzte Industriesteuerung und Verfahren zum Wechsel des Betriebsmodus einer solchen Industriesteuerung |
KR101400657B1 (ko) * | 2010-08-16 | 2014-05-28 | 미쓰비시덴키 가부시키가이샤 | 제어 프로그램 생성 장치, 제어 프로그램 생성 프로그램을 기록한 컴퓨터 판독 가능 기록매체, 및 제어 프로그램 생성 방법 |
US20120101679A1 (en) * | 2010-10-26 | 2012-04-26 | Noel Wayne Anderson | Method and system for enhancing operating performance of an autonomic mobile robotic device |
EP2466404A1 (de) * | 2010-12-14 | 2012-06-20 | Abb As | Verfahren zur Steuerung von Industrierobotern in einem Arbeitsbereich |
US8386078B1 (en) | 2011-05-06 | 2013-02-26 | Google Inc. | Methods and systems for providing a data library for robotic devices |
WO2013143585A1 (de) * | 2012-03-28 | 2013-10-03 | Siemens Aktiengesellschaft | Verfahren und vorrichtung zur unterstützung bei der erstellung einer energieeffizienten steuerungssequenz |
KR101384564B1 (ko) * | 2012-11-29 | 2014-04-17 | (주)투비소프트 | 데이터셋 전송 프로토콜을 이용한 다중 요청 처리 방법 |
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2014
- 2014-09-02 DE DE102014112639.4A patent/DE102014112639C5/de not_active Expired - Fee Related
-
2015
- 2015-08-28 CN CN201580047214.7A patent/CN107077131B/zh active Active
- 2015-08-28 DK DK15791486.2T patent/DK3189385T3/da active
- 2015-08-28 US US15/508,328 patent/US10493625B2/en active Active
- 2015-08-28 EP EP15791486.2A patent/EP3189385B1/de active Active
- 2015-08-28 JP JP2017530403A patent/JP6454015B2/ja active Active
- 2015-08-28 WO PCT/DE2015/100356 patent/WO2016034167A2/de active Application Filing
- 2015-08-28 KR KR1020177009102A patent/KR101990418B1/ko active IP Right Grant
Non-Patent Citations (1)
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Also Published As
Publication number | Publication date |
---|---|
EP3189385B1 (de) | 2021-10-13 |
US10493625B2 (en) | 2019-12-03 |
JP6454015B2 (ja) | 2019-01-16 |
JP2017530873A (ja) | 2017-10-19 |
US20170282367A1 (en) | 2017-10-05 |
DE102014112639B4 (de) | 2018-02-08 |
DE102014112639A1 (de) | 2016-03-03 |
WO2016034167A3 (de) | 2016-04-28 |
CN107077131A (zh) | 2017-08-18 |
KR101990418B1 (ko) | 2019-10-01 |
DK3189385T3 (da) | 2021-12-20 |
EP3189385A2 (de) | 2017-07-12 |
KR20170058954A (ko) | 2017-05-29 |
DE102014112639C5 (de) | 2020-07-02 |
CN107077131B (zh) | 2020-02-21 |
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